KITECH-Hand: A Highly Dexterous and Modularized Robotic Hand

Lee, Dong-Hyuk; Park, Jae‐Han; Park, Sung Woo; Baeg, Moon-Hong; Bae, Ji‐Hun

doi:10.1109/tmech.2016.2634602

Cited by 103 publications

(44 citation statements)

References 23 publications

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“…While the former group mainly contains optimized grasp algorithm testing platforms, the latter consists of more versatile devices. As proof of the above statement concerning the number of fingers, Lee et al [90] and Mnyusiwalla et al [89] present robotic hands that perform in-hand manipulation of a ruler, bulb, and can. 3 clearly shows no dependencies or a trend of an increasing number of constructions with fewer than five fingers, and the ratio of these mechanisms is dropping.…”

Section: Finger Configurationsmentioning

confidence: 92%

“…Most artificial hands are human-based, which means that there are four palm fingers (index-little) and a thumb [38,[70][71][72][73]. However, some research groups found solutions with three [74][75][76][77][78][79][80][81] or four [23,40,[82][83][84][85][86][87][88][89][90] fingers applied ( Figure 3). While the former group mainly contains optimized grasp algorithm testing platforms, the latter consists of more versatile devices.…”

Section: Finger Configurationsmentioning

confidence: 99%

“…There is some research that introduced untypical link applications or reductions [106,115,116]. In [90], MCP joints of palm fingers, instead of a conventional yaw-pitch type, were designed as a roll-pitch. This modification helped with in-hand manipulation that was confirmed by appropriate tests, especially 16 Cutkosky grasps that showed that abduction could successfully be replaced.…”

Section: Joint Configurationsmentioning

confidence: 99%

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Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Szkopek

Redlarski

2019

Applied Sciences

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The subject of human-hand versatility has been intensively investigated for many years. Emerging robotic constructions change continuously in order to mimic natural mechanisms as accurately as possible. Such an attitude is motivated by the demand for humanoid robots with sophisticated end effectors and highly biomimic prostheses. This paper provides wide analysis of more than 80 devices that have been created over the last 40 years. It compares both the mechanical structure and various actuators from conventional DC motors and servomechanisms, through pneumatic muscles, to soft actuators and artificial muscles. Described measured factors include angles, forces, torques, tensions, and tactiles. Furthermore, the appropriate statistics of kinematic configuration, as well as the type or number of drive units and sensory systems, show not only recent problems, but also trends that will be followed in the future.

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Section: Finger Configurationsmentioning

confidence: 92%

Section: Finger Configurationsmentioning

confidence: 99%

Section: Joint Configurationsmentioning

confidence: 99%

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Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Szkopek

Redlarski

2019

Applied Sciences

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“…There are several studies like using SMA -fishing-line integrated with McKibben actuator for realising the bending motion [14], braiding technique for bending effect [15] and kinematic analysis for the facilitation of the model [16]. Some design of bending performance also inspired by a biological system like mimicking human index finger [1], KITECH-hand focusing on MCP joint finger [17], EthoHand focusing on thumb finger [18] and highly mimicking the human hand [19]. Due to its bending performance, thin McKibben actuator also came with the benefits of dexterous function and power to do daily activities like brushing teeth, wearing clothes, grasping an object and even playing musical instrument.…”

Section: Introductionmentioning

confidence: 99%

Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

Mohamed

Hanif

Faudzi

2020

IJAME

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In recent years, soft actuator has been extensively developed in robotic research. This type of robot is expected to work with human with its flexible and adaptable advantage. The actuator material is soft, light, safe and high compliant. Due to these factors, soft McKibben is of interest as an actuator for this research for bending application. This paper introduces a variant bending analysis of a soft body manipulated using soft McKibben actuators. A series of 1.80 mm width with the length of 120.0 mm McKibben actuator is used to control the bending motion. The design consists of four McKibben actuators arranged in parallel and compacted in a soft body. The bending behavior was evaluated using an experimental test with a variety of pneumatic input pressure and length section on the actuator. The experiment showed that the bending angle was influenced by the segmentation length of the actuator, where the segmentation length and increased input pressure also allow more bending on the actuator. The actuator with lot of section gave more bending response compared to the actuator with lesser section. With the performance exhibited from this study, McKibben actuator can be applied in a wider use for continuum manipulator.

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“…The weight and size of the motor itself makes it difficult to install the intrinsic muscles at its original origin and insertion. Other developed hands that have been used include Anthropomorphic Prosthetic Hands (APH) [4], [5], while some are capable of demonstrating human levels of dexterity such as the dexterous robotic hand (DRH) for the task-based operations including KITECH hand [6] and Tachand [7], which neglect the intrinsic function of the hand.…”

Section: Introductionmentioning

confidence: 99%

Intrinsic Muscles of Human-like Robotic Hand using McKibben Actuators

et al. 2017

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This paper presents the intrinsic muscles of a Human-like Robotic Hand (HR-Hand), with a focus on dorsal interossei and palmar interossei muscles. Three links of palmar and four links of dorsal interossei muscles were fabricated according to human hand anatomy using 1.3 mm thin McKibben actuators. The experimental result using single index finger shows that the robotic hand could achieve palmar adduction and dorsal abduction and assist in flexion of fingers that imitate the actual function in the human hand.

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KITECH-Hand: A Highly Dexterous and Modularized Robotic Hand

Cited by 103 publications

References 23 publications

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

Intrinsic Muscles of Human-like Robotic Hand using McKibben Actuators

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